├── .github └── FUNDING.yml ├── .gitignore ├── LICENSE ├── README.md ├── agents ├── __init__.py ├── navigation │ ├── __init__.py │ ├── agent.py │ ├── basic_agent.py │ ├── behavior_agent.py │ ├── controller.py │ ├── global_route_planner.py │ ├── global_route_planner_dao.py │ ├── local_planner.py │ ├── local_planner_behavior.py │ ├── roaming_agent.py │ └── types_behavior.py └── tools │ ├── __init__.py │ └── misc.py ├── camera_calibration ├── README.md ├── calculate_distortion_parameters.py ├── collect_data_for_calibration.py ├── test.png ├── undistort.png └── undistort.py ├── dataset └── tools │ ├── generate_metadata.py │ └── generate_random_routes.py ├── docs ├── DATA_PREP.md ├── EVAL.md ├── INSTALL.md └── TRAIN.md ├── leaderboard ├── LICENSE ├── README.md ├── data │ ├── routes_for_evaluation │ │ ├── routes_longest6.xml │ │ └── routes_town05_long.xml │ ├── routes_for_open_loop_training │ │ ├── routes_town01_00.xml │ │ ├── routes_town01_01.xml │ │ ├── routes_town01_02.xml │ │ ├── routes_town01_03.xml │ │ ├── routes_town01_04.xml │ │ ├── routes_town01_05.xml │ │ ├── routes_town01_06.xml │ │ ├── routes_town01_07.xml │ │ ├── routes_town01_08.xml │ │ ├── routes_town01_09.xml │ │ ├── routes_town01_10.xml │ │ ├── routes_town01_11.xml │ │ ├── routes_town01_val.xml │ │ ├── routes_town02_00.xml │ │ ├── routes_town02_01.xml │ │ ├── routes_town02_02.xml │ │ ├── routes_town02_03.xml │ │ ├── routes_town02_04.xml │ │ ├── routes_town02_05.xml │ │ ├── routes_town02_06.xml │ │ ├── routes_town02_07.xml │ │ ├── routes_town02_08.xml │ │ ├── routes_town02_09.xml │ │ ├── routes_town02_10.xml │ │ ├── routes_town02_11.xml │ │ ├── routes_town02_val.xml │ │ ├── routes_town03_00.xml │ │ ├── routes_town03_01.xml │ │ ├── routes_town03_02.xml │ │ ├── routes_town03_03.xml │ │ ├── routes_town03_04.xml │ │ ├── routes_town03_05.xml │ │ ├── routes_town03_06.xml │ │ ├── routes_town03_07.xml │ │ ├── routes_town03_08.xml │ │ ├── routes_town03_09.xml │ │ ├── routes_town03_10.xml │ │ ├── routes_town03_11.xml │ │ ├── routes_town03_val.xml │ │ ├── routes_town04_00.xml │ │ ├── routes_town04_01.xml │ │ ├── routes_town04_02.xml │ │ ├── routes_town04_03.xml │ │ ├── routes_town04_04.xml │ │ ├── routes_town04_05.xml │ │ ├── routes_town04_06.xml │ │ ├── routes_town04_07.xml │ │ ├── routes_town04_08.xml │ │ ├── routes_town04_09.xml │ │ ├── routes_town04_10.xml │ │ ├── routes_town04_11.xml │ │ ├── routes_town04_val.xml │ │ ├── routes_town05_00.xml │ │ ├── routes_town05_01.xml │ │ ├── routes_town05_02.xml │ │ ├── routes_town05_03.xml │ │ ├── routes_town05_04.xml │ │ ├── routes_town05_05.xml │ │ ├── routes_town05_06.xml │ │ ├── routes_town05_07.xml │ │ ├── routes_town05_08.xml │ │ ├── routes_town05_09.xml │ │ ├── routes_town05_10.xml │ │ ├── routes_town05_11.xml │ │ ├── routes_town05_val.xml │ │ ├── routes_town06_00.xml │ │ ├── routes_town06_01.xml │ │ ├── routes_town06_02.xml │ │ ├── routes_town06_03.xml │ │ ├── routes_town06_04.xml │ │ ├── routes_town06_05.xml │ │ ├── routes_town06_06.xml │ │ ├── routes_town06_07.xml │ │ ├── routes_town06_08.xml │ │ ├── routes_town06_09.xml │ │ ├── routes_town06_10.xml │ │ ├── routes_town06_11.xml │ │ ├── routes_town06_val.xml │ │ ├── routes_town07_00.xml │ │ ├── routes_town07_01.xml │ │ ├── routes_town07_02.xml │ │ ├── routes_town07_03.xml │ │ ├── routes_town07_04.xml │ │ ├── routes_town07_05.xml │ │ ├── routes_town07_06.xml │ │ ├── routes_town07_07.xml │ │ ├── routes_town07_08.xml │ │ ├── routes_town07_09.xml │ │ ├── routes_town07_10.xml │ │ ├── routes_town07_11.xml │ │ ├── routes_town07_val.xml │ │ ├── routes_town10_00.xml │ │ ├── routes_town10_01.xml │ │ ├── routes_town10_02.xml │ │ ├── routes_town10_03.xml │ │ ├── routes_town10_04.xml │ │ ├── routes_town10_05.xml │ │ ├── routes_town10_06.xml │ │ ├── routes_town10_07.xml │ │ ├── routes_town10_08.xml │ │ ├── routes_town10_09.xml │ │ ├── routes_town10_10.xml │ │ ├── routes_town10_11.xml │ │ └── routes_town10_val.xml │ └── scenarios │ │ ├── all_towns_traffic_scenarios_no256.json │ │ └── longest6_eval_scenarios.json ├── leaderboard │ ├── __init__.py │ ├── autoagents │ │ ├── __init__.py │ │ ├── agent_wrapper.py │ │ ├── autonomous_agent.py │ │ ├── dummy_agent.py │ │ ├── human_agent.py │ │ ├── human_agent_config.txt │ │ ├── npc_agent.py │ │ └── ros_agent.py │ ├── envs │ │ ├── __init__.py │ │ └── sensor_interface.py │ ├── leaderboard_evaluator.py │ ├── scenarios │ │ ├── __init__.py │ │ ├── background_activity.py │ │ ├── master_scenario.py │ │ ├── route_scenario.py │ │ ├── scenario_manager.py │ │ └── scenarioatomics │ │ │ ├── __init__.py │ │ │ └── atomic_criteria.py │ └── utils │ │ ├── __init__.py │ │ ├── checkpoint_tools.py │ │ ├── result_writer.py │ │ ├── route_indexer.py │ │ ├── route_manipulation.py │ │ ├── route_parser.py │ │ └── statistics_manager.py ├── scripts │ ├── collect_data.sh │ ├── evaluation_longest6.sh │ └── evaluation_town05long.sh └── team_code │ ├── auto_pilot.py │ ├── base_agent.py │ ├── driveadapter_agent.py │ ├── map_agent.py │ ├── pid_controller.py │ ├── planner.py │ └── roach_ap_agent_data_collection.py ├── open_loop_training ├── __init__.py ├── code │ ├── __init__.py │ ├── apis │ │ ├── __init__.py │ │ ├── mmdet_train.py │ │ └── train.py │ ├── core │ │ └── evaluation │ │ │ ├── __init__.py │ │ │ ├── epoch_hook.py │ │ │ ├── eval_hooks.py │ │ │ └── eval_tool.py │ ├── datasets │ │ ├── __init__.py │ │ ├── base_dataset.py │ │ ├── builder.py │ │ ├── carla_dataset.py │ │ ├── pipelines │ │ │ ├── __init__.py │ │ │ ├── formating.py │ │ │ ├── loading.py │ │ │ └── transform.py │ │ └── samplers │ │ │ ├── __init__.py │ │ │ ├── distributed_sampler.py │ │ │ ├── group_sampler.py │ │ │ └── sampler.py │ ├── encoder_decoder_framework.py │ ├── model_code │ │ ├── backbones │ │ │ ├── __init__.py │ │ │ ├── lidarnet.py │ │ │ └── lss.py │ │ └── dense_heads │ │ │ ├── __init__.py │ │ │ ├── driver_adapter_head.py │ │ │ └── mask2former4seg.py │ └── utils.py ├── configs │ ├── _base_ │ │ ├── default_runtime.py │ │ └── schedules │ │ │ ├── cosine.py │ │ │ ├── cyclic_20e.py │ │ │ ├── cyclic_40e.py │ │ │ ├── mmdet_schedule_1x.py │ │ │ ├── schedule_2x.py │ │ │ ├── schedule_3x.py │ │ │ ├── seg_cosine_150e.py │ │ │ ├── seg_cosine_200e.py │ │ │ └── seg_cosine_50e.py │ └── driveadapter.py ├── ev_mask.npy ├── ops │ └── voxel_pooling │ │ ├── __init__.py │ │ ├── src │ │ ├── voxel_pooling_forward.cpp │ │ └── voxel_pooling_forward_cuda.cu │ │ └── voxel_pooling.py ├── setup.py └── train.py ├── roach ├── config │ └── config_agent.yaml ├── criteria │ ├── blocked.py │ ├── collision.py │ ├── encounter_light.py │ ├── outside_route_lane.py │ ├── route_deviation.py │ ├── run_red_light.py │ └── run_stop_sign.py ├── log │ └── ckpt_11833344.pth ├── models │ ├── distributions.py │ ├── ppo.py │ ├── ppo_buffer.py │ ├── ppo_policy.py │ ├── torch_layers.py │ └── torch_util.py ├── obs_manager │ ├── actor_state │ │ ├── control.py │ │ ├── route.py │ │ ├── speed.py │ │ └── velocity.py │ └── birdview │ │ ├── chauffeurnet.py │ │ ├── hdmap_generate.py │ │ └── maps │ │ ├── Town01.h5 │ │ ├── Town02.h5 │ │ ├── Town03.h5 │ │ ├── Town04.h5 │ │ ├── Town05.h5 │ │ ├── Town06.h5 │ │ ├── Town07.h5 │ │ └── Town10HD.h5 ├── rl_birdview_agent.py └── utils │ ├── config_utils.py │ ├── expert_noiser.py │ ├── rl_birdview_wrapper.py │ ├── traffic_light.py │ ├── transforms.py │ └── wandb_callback.py ├── scenario_runner ├── CARLA_VER ├── Dockerfile ├── Docs │ ├── CHANGELOG.md │ ├── CODE_OF_CONDUCT.md │ ├── CONTRIBUTING.md │ ├── FAQ.md │ ├── agent_evaluation.md │ ├── coding_standard.md │ ├── creating_new_scenario.md │ ├── extra.css │ ├── getting_scenariorunner.md │ ├── getting_started.md │ ├── img │ │ ├── OSC_catalogs.png │ │ ├── OSC_entities_1.png │ │ ├── OSC_entities_2.png │ │ ├── OSC_main.png │ │ ├── OSC_params.png │ │ ├── OSC_roadnetwork.png │ │ ├── OSC_storyboard.png │ │ ├── OSC_storyboard_endconditions.png │ │ ├── OSC_storyboard_event.png │ │ ├── OSC_storyboard_init_1.png │ │ ├── OSC_storyboard_init_2.png │ │ ├── OSC_storyboard_story.png │ │ ├── metrics_example.jpg │ │ ├── metrics_example.png │ │ └── scenario_runner_video.png │ ├── index.md │ ├── list_of_scenarios.md │ ├── metrics_module.md │ ├── openscenario_support.md │ ├── requirements.txt │ └── ros_agent.md ├── Jenkinsfile ├── LICENSE ├── README.md ├── manual_control.py ├── metrics_manager.py ├── mkdocs.yml ├── no_rendering_mode.py ├── requirements.txt ├── scenario_runner.py └── srunner │ ├── __init__.py │ ├── autoagents │ ├── __init__.py │ ├── agent_wrapper.py │ ├── autonomous_agent.py │ ├── dummy_agent.py │ ├── human_agent.py │ ├── npc_agent.py │ ├── ros_agent.py │ └── sensor_interface.py │ ├── data │ ├── all_towns_traffic_scenarios1_3_4.json │ ├── all_towns_traffic_scenarios1_3_4_8.json │ ├── no_scenarios.json │ ├── routes_debug.xml │ ├── routes_devtest.xml │ └── routes_training.xml │ ├── examples │ ├── CatalogExample.xosc │ ├── ChangeLane.xml │ ├── ChangingWeather.xosc │ ├── ControlLoss.xml │ ├── CutIn.xml │ ├── CyclistCrossing.xosc │ ├── FollowLeadingVehicle.xml │ ├── FollowLeadingVehicle.xosc │ ├── FreeRide.xml │ ├── LaneChangeSimple.xosc │ ├── LeadingVehicle.xml │ ├── NoSignalJunction.xml │ ├── ObjectCrossing.xml │ ├── OppositeDirection.xml │ ├── OscControllerExample.xosc │ ├── PedestrianCrossingFront.xosc │ ├── RunningRedLight.xml │ ├── SignalizedJunctionLeftTurn.xml │ ├── SignalizedJunctionRightTurn.xml │ ├── VehicleTurning.xml │ └── catalogs │ │ ├── ControllerCatalog.xosc │ │ ├── EnvironmentCatalog.xosc │ │ ├── ManeuverCatalog.xosc │ │ ├── MiscObjectCatalog.xosc │ │ ├── PedestrianCatalog.xosc │ │ └── VehicleCatalog.xosc │ ├── metrics │ ├── data │ │ ├── CriteriaFilter_criteria.json │ │ ├── DistanceBetweenVehicles_criteria.json │ │ └── DistanceToLaneCenter_criteria.json │ ├── examples │ │ ├── basic_metric.py │ │ ├── criteria_filter.py │ │ ├── distance_between_vehicles.py │ │ └── distance_to_lane_center.py │ └── tools │ │ ├── metrics_log.py │ │ └── metrics_parser.py │ ├── openscenario │ ├── 0.9.x │ │ ├── OpenSCENARIO_Catalog.xsd │ │ ├── OpenSCENARIO_TypeDefs.xsd │ │ ├── OpenSCENARIO_v0.9.1.xsd │ │ └── migration0_9_1to1_0.xslt │ └── OpenSCENARIO.xsd │ ├── scenarioconfigs │ ├── __init__.py │ ├── openscenario_configuration.py │ ├── route_scenario_configuration.py │ └── scenario_configuration.py │ ├── scenariomanager │ ├── __init__.py │ ├── actorcontrols │ │ ├── __init__.py │ │ ├── actor_control.py │ │ ├── basic_control.py │ │ ├── external_control.py │ │ ├── npc_vehicle_control.py │ │ ├── pedestrian_control.py │ │ ├── simple_vehicle_control.py │ │ └── vehicle_longitudinal_control.py │ ├── carla_data_provider.py │ ├── result_writer.py │ ├── scenario_manager.py │ ├── scenarioatomics │ │ ├── __init__.py │ │ ├── atomic_behaviors.py │ │ ├── atomic_criteria.py │ │ └── atomic_trigger_conditions.py │ ├── timer.py │ ├── traffic_events.py │ ├── watchdog.py │ └── weather_sim.py │ ├── scenarios │ ├── __init__.py │ ├── background_activity.py │ ├── basic_scenario.py │ ├── change_lane.py │ ├── control_loss.py │ ├── cut_in.py │ ├── follow_leading_vehicle.py │ ├── freeride.py │ ├── junction_crossing_route.py │ ├── maneuver_opposite_direction.py │ ├── master_scenario.py │ ├── no_signal_junction_crossing.py │ ├── object_crash_intersection.py │ ├── object_crash_vehicle.py │ ├── open_scenario.py │ ├── opposite_vehicle_taking_priority.py │ ├── other_leading_vehicle.py │ ├── route_scenario.py │ ├── signalized_junction_left_turn.py │ └── signalized_junction_right_turn.py │ ├── tools │ ├── __init__.py │ ├── openscenario_parser.py │ ├── py_trees_port.py │ ├── route_manipulation.py │ ├── route_parser.py │ ├── scenario_helper.py │ └── scenario_parser.py │ └── utilities │ └── code_check_and_formatting.sh └── src ├── opendrivelab_e2e_update.png └── pipeline.PNG /.github/FUNDING.yml: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/OpenDriveLab/DriveAdapter/HEAD/.github/FUNDING.yml 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